Control method and system of chassis domain controller

Abstract

The present application provides a control method and system for a chassis domain controller. Traverse the chassis domain controller and associate the satellite positioning module and the inertial measurement unit module; form the first area and the second area based on the satellite positioning module, and the first area and the second area are independent of each other; form the third area and the fourth area based on the inertial measurement unit module, and the fourth area and the fourth area are independent of each other; assist each other according to the first area, the second area, the third area, and the fourth area, and act on the main processor system and the coprocessor system, so that the satellite positioning module and the inertial measurement unit module jointly act on the main processor system and the coprocessor system, and make full use of the mutual assistance in the first area, the second area, the third area, and the fourth area, so as to realize the functional redundancy of the control method of the chassis domain controller and ensure the reliability of the chassis domain controller.

Description

Technical Field

[0001] The present application relates to the technical field of chassis domain controller control, and in particular to a chassis domain controller control method and system. Background Art

[0002] With the development of automotive electronics, electric vehicles are equipped with chassis domain control. The existing chassis domain controllers basically integrate the control of chassis components such as steering, braking, and suspension. The hardware architectures of various companies are basically similar, all of which are coordinated control of chassis components in the X, Y, and Z axis directions. However, when there is a damaged part in the control part of the chassis domain controller, it is impossible to perform supplementary processing based on other control parts, resulting in low reliability of the existing chassis domain controllers. Summary of the invention

[0003] One object of the present application is to provide a control method and system for a chassis domain controller, which cooperates with each other according to a first area, a second area, a third area, and a fourth area, and acts on a main processor system and a coprocessor system, thereby acting on the main processor system and the coprocessor system according to a satellite positioning module and an inertial measurement unit module, and fully utilizing the mutual assistance among the first area, the second area, the third area, and the fourth area, to achieve functional redundancy of the control method of the chassis domain controller and ensure the reliability of the chassis domain controller.

[0004] To achieve the above objectives, some embodiments of the present application provide a control method for a chassis domain controller, which is applied to a chassis domain controller, wherein the chassis domain controller integrates a satellite positioning module and an inertial measurement unit module; the control method for the chassis domain controller includes:

[0005] Traverse the chassis domain controller and associate the satellite positioning module and the inertial measurement unit module;

[0006] Based on the satellite positioning module, a first area and a second area are formed, and the first area and the second area are independent of each other;

[0007] A third area and a fourth area are formed based on the inertial measurement unit module, and the third area and the fourth area are independent of each other;

[0008] The first area, the second area, the third area and the fourth area assist each other and act on the main processor system and the coprocessor system.

[0009] Some embodiments of the present application also provide a control system of a chassis domain controller, including:

[0010] A traversal module is used to traverse the chassis domain controller and associate the satellite positioning module and the inertial measurement unit module;

[0011] A first independent module is used to form a first area and a second area based on the satellite positioning module, and the first area and the second area are independent of each other;

[0012] A second independent module is used to form a third area and a fourth area based on the inertial measurement unit module, and the third area and the fourth area are independent of each other;

[0013] The assisting module is used for assisting each other according to the first area, the second area, the third area and the fourth area, and acts on the main processor system and the coprocessor system.

[0014] Some embodiments of the present application further provide a control device of a chassis domain controller, the device comprising:

[0015] one or more processors; and

[0016] A memory storing computer program instructions, which, when executed, cause the processor to execute the above-mentioned control method of the chassis domain controller.

[0017] Some embodiments of the present application further provide a computer-readable medium having computer program instructions stored thereon, wherein the computer program instructions can be executed by a processor to implement the above-mentioned control method of the chassis domain controller.

[0018] Compared with the prior art, in the solution provided in the embodiment of the present application, the chassis domain controller is traversed, and the satellite positioning module and the inertial measurement unit module are associated; the first area and the second area are formed based on the satellite positioning module, and the first area and the second area are independent of each other; the third area and the fourth area are formed based on the inertial measurement unit module, and the fourth area and the fourth area are independent of each other; the first area, the second area, the third area, and the fourth area assist each other and act on the main processor system and the coprocessor system, so that the satellite positioning module and the inertial measurement unit module jointly act on the main processor system and the coprocessor system, and make full use of the mutual assistance in the first area, the second area, the third area, and the fourth area, so as to realize the functional redundancy of the control method of the chassis domain controller and ensure the reliability of the chassis domain controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic flow chart of a control method of a chassis domain controller provided in an embodiment of the present application;

[0020] Figure 2 Shows Figure 1 Flowchart of S120;

[0021] Figure 3 Shows Figure 1 Flowchart of S130;

[0022] Figure 4 Shows Figure 1 Flowchart of S140;

[0023] Figure 5 A schematic diagram of a self-monitoring system for a control method of a chassis domain controller provided in an embodiment of the present application;

[0024] Figure 6 A block diagram of a control system of a chassis domain controller according to an embodiment of the present application is shown;

[0025] Figure 7 A schematic diagram of the structure of a control device of a chassis domain controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] refer to Figures 1 to 7 The embodiment of the present application further provides a control method of a chassis domain controller, which is applied to a chassis domain controller, wherein the chassis domain controller integrates a satellite positioning module and an inertial measurement unit module; the control method of the chassis domain controller includes:

[0028] Step S110, traverse the chassis domain controller and associate the satellite positioning module and the inertial measurement unit module;

[0029] Step S120, forming a first area and a second area based on a satellite positioning module, wherein the first area and the second area are independent of each other;

[0030] Step S130, forming a third area and a fourth area based on the inertial measurement unit module, wherein the third area and the fourth area are independent of each other;

[0031] Step S140: mutual assistance is performed according to the first area, the second area, the third area, and the fourth area, and acts on the main processor system and the coprocessor system.

[0032] In the solution provided in the embodiment of the present application, the chassis domain controller is traversed, and the satellite positioning module and the inertial measurement unit module are associated; the first area and the second area are formed based on the satellite positioning module, and the first area and the second area are independent of each other; the third area and the fourth area are formed based on the inertial measurement unit module, and the fourth area and the fourth area are independent of each other; the first area, the second area, the third area, and the fourth area assist each other and act on the main processor system and the coprocessor system, so that the satellite positioning module and the inertial measurement unit module jointly act on the main processor system and the coprocessor system, and make full use of the mutual assistance in the first area, the second area, the third area, and the fourth area, so as to realize the functional redundancy of the control method of the chassis domain controller and ensure the reliability of the chassis domain controller.

[0033] In step S110, the chassis domain controller is traversed and the satellite positioning module and the inertial measurement unit module are associated.

[0034] In an embodiment of the present application, a chassis domain controller is acquired; the chassis domain controller is traversed, and the satellite positioning module and the inertial measurement unit module are located based on signal response; the satellite positioning module and the inertial measurement unit module are associated, and the satellite positioning module and the inertial measurement unit module are integrated and managed, wherein the satellite positioning module and the inertial measurement unit module are integrated into the same combined positioning system.

[0035] At this time, the chassis domain controller is traversed, and the satellite positioning module and the inertial measurement unit module are accurately positioned according to the signal response, so as to freeze the satellite positioning module and the inertial measurement unit module, so as to integrate the satellite positioning module and the inertial measurement unit module into the same combined positioning system, which is used by the chassis domain controller through the combined positioning system, making full use of the control function of the chassis domain controller and improving the control integration of the chassis domain controller. At the same time, the satellite positioning module and the inertial measurement unit module are associated, and the satellite positioning module and the inertial measurement unit module are integrated and managed.

[0036] In step S120, a first area and a second area are formed based on the satellite positioning module, and the first area and the second area are independent of each other.

[0037] In the embodiment of the present application, the satellite positioning module is divided into regions to form a first region and a second region, and the first region and the second region are independent of each other. At this time, the first region and the second region are independently powered, controlled and communicated. The first region is connected to the main processor system, and the second region is connected to the coprocessor system. The data of the two can be used as calculation checksum and functional redundancy.

[0038] The specific steps are as follows:

[0039] Step S121, positioning satellite positioning module;

[0040] Step S122: forming a first area and a second area based on a satellite positioning module and function;

[0041] Step S123, independently arranging the first area and the second area, and independently powering, controlling and communicating them;

[0042] Step S124: Based on the first area, the second area is connected to the main processor system and the coprocessor system respectively, and mutual verification and functional redundancy are achieved.

[0043] In an embodiment of the present application, a satellite positioning module is positioned, and a first area and a second area are formed based on the satellite positioning module and its functions to facilitate further processing through the first area and the second area. At the same time, the first area and the second area are independently arranged, and are independently powered, controlled and communicated. At this time, the first area and the second area are respectively connected to the main processor system and the coprocessor system, and are mutually verified and functionally redundant.

[0044] In addition, the first area and the second area are formed based on the satellite positioning module, and the first area and the second area are independent of each other, and also include: traversing the main processor system and the coprocessor system, defining the computing amount of the main processor system and the computing amount of the coprocessor system; defining the priority between the main processor system and the coprocessor system based on the computing amount of the main processor system and the computing amount of the coprocessor system; and controlling the positioning data of the first area and the positioning data of the second area according to the priority between the main processor system and the coprocessor system.

[0045] The main processor system and the coprocessor system are traversed to define the computing amount of the main processor system and the computing amount of the coprocessor system, so as to compare the computing amount of the main processor system and the computing amount of the coprocessor system, and then define the priority. Therefore, the positioning data of the first area and the positioning data of the second area are controlled according to the priority between the main processor system and the coprocessor system.

[0046] In step S130 , a third region and a fourth region are formed based on the inertial measurement unit module, and the third region and the fourth region are independent of each other.

[0047] In the embodiment of the present application, the inertial measurement unit module is divided into regions to form a third region and a fourth region, which are independent of each other. At this time, the third region and the fourth region are independently powered, controlled and communicated. The third region is connected to the main processor system, and the fourth region is connected to the coprocessor system. The data of the two can be used as calculation checksum and functional redundancy.

[0048] The specific steps are as follows:

[0049] Step S131, positioning the inertial measurement unit module;

[0050] Step S132, forming a third area and a fourth area based on the inertial measurement unit module and function;

[0051] Step S133, independently arranging the third area and the fourth area, and independently powering, controlling and communicating them;

[0052] Step S134: Based on the third area, the fourth area is connected to the main processor system and the coprocessor system respectively, and mutual verification and functional redundancy are achieved.

[0053] In an embodiment of the present application, the inertial measurement unit module is positioned, and a third area and a fourth area are formed based on the inertial measurement unit module and its functions to facilitate further processing through the third area and the fourth area. At the same time, the third area and the fourth area are independently arranged, and are independently powered, controlled and communicated. At this time, the third area and the fourth area are respectively connected to the main processor system and the coprocessor system, and are mutually verified and functionally redundant.

[0054] The third area and the fourth area are formed based on the inertial measurement unit module, and the third area and the fourth area are independent of each other, and also include: traversing the main processor system and the coprocessor system, defining the computing amount of the main processor system and the computing amount of the coprocessor system; defining the priority between the main processor system and the coprocessor system based on the computing amount of the main processor system and the computing amount of the coprocessor system; and controlling the posture data of the third area and the posture data of the fourth area according to the priority between the main processor system and the coprocessor system.

[0055] At this time, the inertial measurement unit module includes a combination of an accelerometer sensor and a gyroscope sensor, which is used to detect the acceleration and angular velocity of the controller to record the body movement and movement intensity, which can assist in the body posture, path trajectory, and high-precision positioning solution.

[0056] In step S140, the first area, the second area, the third area, and the fourth area assist each other and act on the main processor system and the coprocessor system.

[0057] In an embodiment of the present application, the first area, the second area, the third area, and the fourth area are associated so that the first area, the second area, the third area, and the fourth area can assist each other and act on the main processor system and the coprocessor system. At this time, the main processor system and the coprocessor system are jointly acted on by the first area, the second area, the third area, and the fourth area, and the main processor system and the coprocessor system are managed and controlled so as to fully assist the main processor system and the coprocessor system.

[0058] The specific steps are as follows:

[0059] Step S141, traverse the first area, the second area, the third area, and the fourth area;

[0060] Step S142, defining data corresponding to the first area, the second area, the third area, and the fourth area;

[0061] Step S143, associating the first region, the second region, the third region, and the fourth region, and forming an assisted learning model based on the first region, the second region, the third region, and the fourth region, wherein the assisted learning model is trained based on the data of the first region, the second region, the third region, and the fourth region in the past;

[0062] Step S144: dynamically balance the first area, the second area, the third area, and the fourth area based on the assisted learning model, and act on the main processor system and the coprocessor system.

[0063] In an embodiment of the present application, the first area, the second area, the third area, and the fourth area assist each other and act on the main processor system and the coprocessor system, so that the satellite positioning module and the inertial measurement unit module jointly act on the main processor system and the coprocessor system, and make full use of the mutual assistance among the first area, the second area, the third area, and the fourth area to achieve functional redundancy of the control method of the chassis domain controller and ensure the reliability of the chassis domain controller.

[0064] In addition, the main processor system and the coprocessor system are connected in pairs through 4 CAN buses, so that each CAN bus can be connected to the main processor system and the coprocessor system to achieve the redundancy function of the system. At the same time, the CAN PHY1 and CAN PHY2 modules of the main processor system and the coprocessor system can realize the specific frame wake-up function, which can wake up the controller power supply.

[0065] In addition, the control method of the chassis domain controller includes: locating a storage module, which is used to store system logs, applications, and running cache files.

[0066] In addition, the vehicle-mounted Ethernet module is located; the vehicle-mounted Ethernet module is applied to the main processor system and the coprocessor system, and is independent of the satellite positioning module and the inertial measurement unit module; data is exchanged according to the interface between the main processor system and the coprocessor system, and the vehicle-mounted Ethernet module is configured for system ring network redundancy.

[0067] The control method of the chassis domain controller includes: positioning a self-monitoring system, the self-monitoring system being located between a main processor system and a coprocessor system; monitoring the main processor system and the coprocessor system according to the self-monitoring system to obtain status signals of the main processor system and the coprocessor system; associating the main processor system and the coprocessor system based on the self-monitoring system, and connecting the memory between the main processor system and the coprocessor system.

[0068] At this time, the main processor system and the coprocessor system each have a power management module to supply, monitor and control the branch power supply. The two main processors can perform lock-step calculations and verify each other to improve calculation reliability and control reliability. In addition, the two processors are designed with self-monitoring modules, which are respectively connected to the external hardware non-shieldable interrupt pin, reset pin, alarm and monitoring error status pin of the two processor systems, and monitor the operating status of each processor system through IO heartbeat signals, IO state transition signals, and power supply voltage sampling of each node. SPI and RGMII communications are designed between the two processors, which can be used for the interaction of operation logs and application data, and can also be used as a memory sharing channel for the two processor cores.

[0069] In the solution provided in the embodiment of the present application, the chassis domain controller is traversed, and the satellite positioning module and the inertial measurement unit module are associated; the first area and the second area are formed based on the satellite positioning module, and the first area and the second area are independent of each other; the third area and the fourth area are formed based on the inertial measurement unit module, and the fourth area and the fourth area are independent of each other; the first area, the second area, the third area, and the fourth area assist each other and act on the main processor system and the coprocessor system, so that the satellite positioning module and the inertial measurement unit module jointly act on the main processor system and the coprocessor system, and make full use of the mutual assistance in the first area, the second area, the third area, and the fourth area, so as to realize the functional redundancy of the control method of the chassis domain controller and ensure the reliability of the chassis domain controller.

[0070] refer to Figure 6 Some embodiments of the present application further provide a control system 200 of a chassis domain controller, characterized in that it includes:

[0071] A traversal module 210 is used to traverse the chassis domain controller and associate the satellite positioning module and the inertial measurement unit module;

[0072] A first independent module 220, used to form a first area and a second area based on a satellite positioning module, the first area and the second area being independent;

[0073] A second independent module 230 is used to form a third area and a fourth area based on the inertial measurement unit module, and the third area and the fourth area are independent of each other;

[0074] The assist module 240 is used to assist each other according to the first area, the second area, the third area, and the fourth area, and acts on the main processor system and the coprocessor system.

[0075] In addition, the present application embodiment also provides a control device of a chassis domain controller, the structure of which is as follows: Figure 7 As shown, the device includes a memory 31 for storing computer-readable instructions and a processor 32 for executing computer-readable instructions, wherein when the computer-readable instructions are executed by the processor, the processor is triggered to execute the control method of the chassis domain controller.

[0076] The methods and / or embodiments in the embodiments of the present application may be implemented as computer software programs. For example, the embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart. When the computer program is executed by the processing unit, the above functions defined in the method of the present application are executed.

[0077] It should be noted that the computer-readable medium described in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device.

[0078] In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0079] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0080] The flow chart or block diagram in the accompanying drawings shows the possible architecture, function and operation of the equipment, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated system for hardware that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0081] As another aspect, the embodiments of the present application further provide a computer-readable medium, which may be included in the device described in the above embodiments; or may exist independently without being assembled into the device. The above computer-readable medium carries one or more computer-readable instructions, which may be executed by a processor to implement the steps of the methods and / or technical solutions of the above multiple embodiments of the present application.

[0082] In a typical configuration of the present application, the terminal and the equipment of the service network each include one or more processors (CPU), input / output interface, network interface and memory.

[0083] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0084] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, modules of programs or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0085] In addition, an embodiment of the present application further provides a computer program, which is stored in a computer device, so that the computer device executes the method for controlling code execution.

[0086] It should be noted that the present application can be implemented in software and / or a combination of software and hardware, for example, can be implemented using an application specific integrated circuit (ASIC), a general purpose computer or any other similar hardware device. In certain embodiments, the software program of the present application can be executed by a processor to implement the above steps or functions. Similarly, the software program of the present application (including related data structures) can be stored in a computer-readable recording medium, for example, a RAM memory, a magnetic or optical drive or a floppy disk and similar devices. In addition, some steps or functions of the present application can be implemented using hardware, for example, as a circuit that cooperates with a processor to perform each step or function.

[0087] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or basic features of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present application is limited by the attached claims rather than the above description, so it is intended to include all changes that fall within the meaning and scope of the equivalent elements of the claims in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or systems stated in the system claim can also be implemented by one unit or system through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

Claims

1. A control method for a chassis domain controller, characterized in that: Applied to a chassis domain controller, the chassis domain controller integrates a satellite positioning module and an inertial measurement unit module; the control method of the chassis domain controller includes: Traverse the chassis domain controller and associate the satellite positioning module and the inertial measurement unit module; Based on the satellite positioning module, a first area and a second area are formed, and the first area and the second area are independent of each other; A third area and a fourth area are formed based on the inertial measurement unit module, and the third area and the fourth area are independent of each other; According to the first area, the second area, the third area, and the fourth area, mutual assistance is performed and the main processor system and the coprocessor system are acted upon; The main processor system and the coprocessor system are connected in pairs through 4-way CAN buses. The main processor system and the coprocessor system perform lock-step calculations and check each other to improve calculation reliability and redundant control reliability. Positioning the self-monitoring system, the self-monitoring system is located between the main processor system and the coprocessor system, and is respectively connected to the external hardware non-maskable interrupt pin, reset pin, alarm and monitoring error status pin of the main processor system and the coprocessor system; The self-monitoring system collects IO heartbeat signals, IO state conversion signals, and power supply voltage sampling signals of each node to monitor the main processor system and the coprocessor system to obtain status signals of the main processor system and the coprocessor system.

2. The control method of the chassis domain controller according to claim 1, characterized in that: The traversal of the chassis domain controller and associating the satellite positioning module and the inertial measurement unit module include: Get chassis domain controller; Traverse the chassis domain controller and locate the satellite positioning module and the inertial measurement unit module based on the signal response; The satellite positioning module and the inertial measurement unit module are associated, and the satellite positioning module and the inertial measurement unit module are integratedly managed and controlled, wherein the satellite positioning module and the inertial measurement unit module are integrated into the same combined positioning system.

3. The control method of the chassis domain controller according to claim 1, characterized in that: The forming of the first area and the second area based on the satellite positioning module, wherein the first area and the second area are independent of each other, includes: Positioning satellite positioning module; Forming a first area and a second area based on a satellite positioning module and function; Independently arranged according to the first area and the second area, with independent power supply, control and communication; Based on the first area, the second area is connected to the main processor system and the coprocessor system respectively, and mutually checks and performs functional redundancy.

4. The control method of the chassis domain controller according to claim 1, characterized in that: The forming of the first area and the second area based on the satellite positioning module, the first area and the second area being independent, further comprises: Traversing the main processor system and the coprocessor system, defining the computational load of the main processor system and the computational load of the coprocessor system; defining a priority between the main processor system and the coprocessor system based on the computational load of the main processor system and the computational load of the coprocessor system; The positioning data of the first area and the positioning data of the second area are managed according to the priority between the main processor system and the coprocessor system.

5. The control method of the chassis domain controller according to claim 4, characterized in that: The third area and the fourth area are formed based on the inertial measurement unit module, and the third area and the fourth area are independent of each other, and include: Positioning inertial measurement unit module; Forming a third area and a fourth area based on the inertial measurement unit module and function; Independently arranged according to the third and fourth areas, with independent power supply, control and communication; Based on the third area, the fourth area is connected to the main processor system and the coprocessor system respectively, and mutually checks and performs functional redundancy.

6. The control method of the chassis domain controller according to claim 5, characterized in that: The forming of the third area and the fourth area based on the inertial measurement unit module, the third area and the fourth area being independent of each other, further comprises: Traversing the main processor system and the coprocessor system, defining the computational load of the main processor system and the computational load of the coprocessor system; defining a priority between the main processor system and the coprocessor system based on the computational load of the main processor system and the computational load of the coprocessor system; The posture data of the third area and the posture data of the fourth area are controlled according to the priority between the main processor system and the coprocessor system.

7. The control method of the chassis domain controller according to claim 1, characterized in that: The mutual assistance according to the first area, the second area, the third area, and the fourth area, and acting on the main processor system and the coprocessor system, include: Traverse the first area, the second area, the third area, and the fourth area; Define the data corresponding to the first area, the second area, the third area, and the fourth area; Associating the first region, the second region, the third region, and the fourth region, and forming an assisted learning model based on the first region, the second region, the third region, and the fourth region, wherein the assisted learning model is trained based on the previous data of the first region, the second region, the third region, and the fourth region; The first area, the second area, the third area, and the fourth area are dynamically balanced based on the assisted learning model, and act on the main processor system and the coprocessor system.

8. The control method of the chassis domain controller according to claim 7, characterized in that: The control method of the chassis domain controller includes: Locate the storage module, which is used to store system logs, applications, and run cache files; Alternatively, locate the vehicle Ethernet module; apply the vehicle Ethernet module to the main processor system and the coprocessor system, and be independent of the satellite positioning module and the inertial measurement unit module; perform data exchange according to the interface between the main processor system and the coprocessor system, and configure the vehicle Ethernet module for system ring network redundancy.

9. The control method of the chassis domain controller according to claim 1, characterized in that: The control method of the chassis domain controller further includes: The main processor system and the coprocessor system are associated based on the self-monitoring system, and the memories between the main processor system and the coprocessor system are connected.

10. A control system of a chassis domain controller, characterized in that: The control method of the chassis domain controller according to any one of claims 1 to 9 is executed, wherein the control system of the chassis domain controller comprises: A traversal module is used to traverse the chassis domain controller and associate the satellite positioning module and the inertial measurement unit module; A first independent module is used to form a first area and a second area based on the satellite positioning module, and the first area and the second area are independent of each other; A second independent module is used to form a third area and a fourth area based on the inertial measurement unit module, and the third area and the fourth area are independent of each other; An assisting module, used for assisting each other according to the first area, the second area, the third area, and the fourth area, and acting on the main processor system and the coprocessor system; The main processor system and the coprocessor system are connected in pairs through 4-way CAN buses. The main processor system and the coprocessor system perform lock-step calculations and check each other to improve calculation reliability and redundant control reliability. The self-monitoring system is located between the main processor system and the coprocessor system, and is connected to the external hardware non-maskable interrupt pin, reset pin, alarm and monitoring error status pin of the main processor system and the coprocessor system respectively; The self-monitoring system collects IO heartbeat signals, IO state conversion signals, and power supply voltage sampling signals of each node to monitor the main processor system and the coprocessor system to obtain status signals of the main processor system and the coprocessor system.

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